扩展卡尔曼滤波项目C++代码
本资源提供了一个自动驾驶汽车程序启动扩展卡尔曼滤波项目C++代码。所谓扩展卡尔曼滤波器,就是适用于非线性系统的卡尔曼滤波器,可以更广泛的应用在项目中。
代码片段和文件信息
属性 大小 日期 时间 名称
----------- --------- ---------- ----- ----
目录 0 2018-12-14 00:45 CarND-Extended-Kalman-Filter-Project-master
文件 320 2018-12-14 00:45 CarND-Extended-Kalman-Filter-Project-master.gitignore
文件 676 2018-12-14 00:45 CarND-Extended-Kalman-Filter-Project-masterCMakeLists.txt
目录 0 2018-12-14 00:45 CarND-Extended-Kalman-Filter-Project-masterDocs
文件 1230 2018-12-14 00:45 CarND-Extended-Kalman-Filter-Project-masterDocsData_Flow_Doc.txt
文件 417 2018-12-14 00:45 CarND-Extended-Kalman-Filter-Project-masterDocsInput_Output File Format.txt
文件 1075 2018-12-14 00:45 CarND-Extended-Kalman-Filter-Project-masterLICENSE
文件 6008 2018-12-14 00:45 CarND-Extended-Kalman-Filter-Project-masterREADME.md
文件 1102 2018-12-14 00:45 CarND-Extended-Kalman-Filter-Project-mastercmakepatch.txt
目录 0 2018-12-14 00:45 CarND-Extended-Kalman-Filter-Project-masterdata
文件 66250 2018-12-14 00:45 CarND-Extended-Kalman-Filter-Project-masterdataobj_pose-laser-radar-synthetic-input.txt
目录 0 2018-12-14 00:45 CarND-Extended-Kalman-Filter-Project-masteride_profiles
目录 0 2018-12-14 00:45 CarND-Extended-Kalman-Filter-Project-masteride_profilesEclipse
文件 2974 2018-12-14 00:45 CarND-Extended-Kalman-Filter-Project-masteride_profilesEclipseREADME.md
目录 0 2018-12-14 00:45 CarND-Extended-Kalman-Filter-Project-masteride_profilesEclipseimages
文件 43835 2018-12-14 00:45 CarND-Extended-Kalman-Filter-Project-masteride_profilesEclipseimagesCapture-EclipseMenuFileImport.jpg
文件 38857 2018-12-14 00:45 CarND-Extended-Kalman-Filter-Project-masteride_profilesEclipseimagesCapture-EclipseProjectsIntoWorkspace.jpg
文件 179467 2018-12-14 00:45 CarND-Extended-Kalman-Filter-Project-masteride_profilesEclipseimagesCapture-Final.png
文件 69973 2018-12-14 00:45 CarND-Extended-Kalman-Filter-Project-masteride_profilesEclipseimagesCapture-Import-2.png
文件 140 2018-12-14 00:45 CarND-Extended-Kalman-Filter-Project-masteride_profilesREADME.md
目录 0 2018-12-14 00:45 CarND-Extended-Kalman-Filter-Project-masteride_profilesxcode
文件 3838 2018-12-14 00:45 CarND-Extended-Kalman-Filter-Project-masteride_profilesxcodeREADME.md
目录 0 2018-12-14 00:45 CarND-Extended-Kalman-Filter-Project-masteride_profilesxcodeimages
文件 357399 2018-12-14 00:45 CarND-Extended-Kalman-Filter-Project-masteride_profilesxcodeimagesarguments_selection.png
文件 350358 2018-12-14 00:45 CarND-Extended-Kalman-Filter-Project-masteride_profilesxcodeimagesarguments_tab.png
文件 546473 2018-12-14 00:45 CarND-Extended-Kalman-Filter-Project-masteride_profilesxcodeimagesat_breakpoint.png
文件 89586 2018-12-14 00:45 CarND-Extended-Kalman-Filter-Project-masteride_profilesxcodeimagesreakpoint.png
文件 46200 2018-12-14 00:45 CarND-Extended-Kalman-Filter-Project-masteride_profilesxcodeimagesuild_button.png
文件 62774 2018-12-14 00:45 CarND-Extended-Kalman-Filter-Project-masteride_profilesxcodeimagesedit_scheme.png
文件 63216 2018-12-14 00:45 CarND-Extended-Kalman-Filter-Project-masteride_profilesxcodeimagesscheme_selection.png
文件 128915 2018-12-14 00:45 CarND-Extended-Kalman-Filter-Project-masteride_profilesxcodeimagesschemes_location.png
............此处省略376个文件信息
#include “FusionEKF.h“
#include
#include “Eigen/Dense“
#include “tools.h“
using Eigen::MatrixXd;
using Eigen::VectorXd;
using std::cout;
using std::endl;
using std::vector;
/**
* Constructor.
*/
FusionEKF::FusionEKF() {
is_initialized_ = false;
previous_timestamp_ = 0;
// initializing matrices
R_laser_ = MatrixXd(2 2);
R_radar_ = MatrixXd(3 3);
H_laser_ = MatrixXd(2 4);
Hj_ = MatrixXd(3 4);
//measurement covariance matrix - laser
R_laser_ << 0.0225 0
0 0.0225;
//measurement covariance matrix - radar
R_radar_ << 0.09 0 0
0 0.0009 0
0 0 0.09;
/**
* TODO: Finish initializing the FusionEKF.
* TODO: Set the process and measurement noises
*/
}
/**
* Destructor.
*/
FusionEKF::~FusionEKF() {}
void FusionEKF::ProcessMeasurement(const MeasurementPackage &measurement_pack) {
/**
* Initialization
*/
if (!is_initialized_) {
/**
* TODO: Initialize the state ekf_.x_ with the first measurement.
* TODO: Create the covariance matrix.
* You‘ll need to convert radar from polar to cartesian coordinates.
*/
// first measurement
cout << “EKF: “ << endl;
ekf_.x_ = VectorXd(4);
ekf_.x_ << 1 1 1 1;
if (measurement_pack.sensor_type_ == MeasurementPackage::RADAR) {
// TODO: Convert radar from polar to cartesian coordinates
// and initialize state.
}
else if (measurement_pack.sensor_type_ == MeasurementPackage::LASER) {
// TODO: Initialize state.
}
// done initializing no need to predict or update
is_initialized_ = true;
return;
}
/**
* Prediction
*/
/**
* TODO: Update the state transition matrix F according to the new elapsed time.
* Time is measured in seconds.
* TODO: Update the process noise covariance matrix.
* Use noise_ax = 9 and noise_ay = 9 for your Q matrix.
*/
ekf_.Predict();
/**
* Update
*/
/**
* TODO:
* - Use the sensor type to perform the update step.
* - Update the state and covariance matrices.
*/
if (measurement_pack.sensor_type_ == MeasurementPackage::RADAR) {
// TODO: Radar updates
} else {
// TODO: Laser updates
}
// print the output
cout << “x_ = “ << ekf_.x_ << endl;
cout << “P_ = “ << ekf_.P_ << endl;
}
属性 大小 日期 时间 名称
----------- --------- ---------- ----- ----
目录 0 2018-12-14 00:45 CarND-Extended-Kalman-Filter-Project-master
文件 320 2018-12-14 00:45 CarND-Extended-Kalman-Filter-Project-master.gitignore
文件 676 2018-12-14 00:45 CarND-Extended-Kalman-Filter-Project-masterCMakeLists.txt
目录 0 2018-12-14 00:45 CarND-Extended-Kalman-Filter-Project-masterDocs
文件 1230 2018-12-14 00:45 CarND-Extended-Kalman-Filter-Project-masterDocsData_Flow_Doc.txt
文件 417 2018-12-14 00:45 CarND-Extended-Kalman-Filter-Project-masterDocsInput_Output File Format.txt
文件 1075 2018-12-14 00:45 CarND-Extended-Kalman-Filter-Project-masterLICENSE
文件 6008 2018-12-14 00:45 CarND-Extended-Kalman-Filter-Project-masterREADME.md
文件 1102 2018-12-14 00:45 CarND-Extended-Kalman-Filter-Project-mastercmakepatch.txt
目录 0 2018-12-14 00:45 CarND-Extended-Kalman-Filter-Project-masterdata
文件 66250 2018-12-14 00:45 CarND-Extended-Kalman-Filter-Project-masterdataobj_pose-laser-radar-synthetic-input.txt
目录 0 2018-12-14 00:45 CarND-Extended-Kalman-Filter-Project-masteride_profiles
目录 0 2018-12-14 00:45 CarND-Extended-Kalman-Filter-Project-masteride_profilesEclipse
文件 2974 2018-12-14 00:45 CarND-Extended-Kalman-Filter-Project-masteride_profilesEclipseREADME.md
目录 0 2018-12-14 00:45 CarND-Extended-Kalman-Filter-Project-masteride_profilesEclipseimages
文件 43835 2018-12-14 00:45 CarND-Extended-Kalman-Filter-Project-masteride_profilesEclipseimagesCapture-EclipseMenuFileImport.jpg
文件 38857 2018-12-14 00:45 CarND-Extended-Kalman-Filter-Project-masteride_profilesEclipseimagesCapture-EclipseProjectsIntoWorkspace.jpg
文件 179467 2018-12-14 00:45 CarND-Extended-Kalman-Filter-Project-masteride_profilesEclipseimagesCapture-Final.png
文件 69973 2018-12-14 00:45 CarND-Extended-Kalman-Filter-Project-masteride_profilesEclipseimagesCapture-Import-2.png
文件 140 2018-12-14 00:45 CarND-Extended-Kalman-Filter-Project-masteride_profilesREADME.md
目录 0 2018-12-14 00:45 CarND-Extended-Kalman-Filter-Project-masteride_profilesxcode
文件 3838 2018-12-14 00:45 CarND-Extended-Kalman-Filter-Project-masteride_profilesxcodeREADME.md
目录 0 2018-12-14 00:45 CarND-Extended-Kalman-Filter-Project-masteride_profilesxcodeimages
文件 357399 2018-12-14 00:45 CarND-Extended-Kalman-Filter-Project-masteride_profilesxcodeimagesarguments_selection.png
文件 350358 2018-12-14 00:45 CarND-Extended-Kalman-Filter-Project-masteride_profilesxcodeimagesarguments_tab.png
文件 546473 2018-12-14 00:45 CarND-Extended-Kalman-Filter-Project-masteride_profilesxcodeimagesat_breakpoint.png
文件 89586 2018-12-14 00:45 CarND-Extended-Kalman-Filter-Project-masteride_profilesxcodeimagesreakpoint.png
文件 46200 2018-12-14 00:45 CarND-Extended-Kalman-Filter-Project-masteride_profilesxcodeimagesuild_button.png
文件 62774 2018-12-14 00:45 CarND-Extended-Kalman-Filter-Project-masteride_profilesxcodeimagesedit_scheme.png
文件 63216 2018-12-14 00:45 CarND-Extended-Kalman-Filter-Project-masteride_profilesxcodeimagesscheme_selection.png
文件 128915 2018-12-14 00:45 CarND-Extended-Kalman-Filter-Project-masteride_profilesxcodeimagesschemes_location.png
............此处省略376个文件信息
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